GpsSensor

Global Positioning System (GPS) devices estimates the global pose of the vehicle with respect to the world. Take into account this device only works when it is near the surface (0.5 meters maximum depth). The output of this sensor can bu published using a GPSSensorToROS ROS interface.

XML syntax

In order to add a GPS device to the scene we just need name and relativeTo information.

• name: This parameters sets the camera name that will identify it.
• relativeTo: The name of the vehicle's link where the camera is attached.
• position: Initial position of the camera with respect to the vehicle's link.
• orientation: Initial rotation of the camera with respect to the vehicle's link, stated in RPY.
• std: Standard deviation of the gaussian noise added to the device.